Indoor passive visible light positioning system based on perovskite cell and implementation method thereof

Abstract

The invention discloses an indoor passive visible light positioning system based on a perovskite cell and an implementation method thereof, and relates to the technical field of visible light positioning. According to the invention, during modulation, a PWM modulation method for carrying out digital coding on an analog signal level is adopted, so that the stable output power of a transmitter can be ensured, and light flickering caused by data transmission is prevented; when the receiving terminal solves the coordinates, the wave frequency is calculated through the counter, the counter is stopped immediately after the wave frequency is obtained, and the low-frequency analog-to-digital conversion module is stopped immediately after the sampling mean value is obtained, so that the power consumption of system operation is reduced to a certain extent, and the long-time operation of the system is ensured.

Description

Technical Field

[0001] The present invention relates to the field of visible light positioning technology, and in particular to an indoor passive visible light positioning system based on perovskite cells and an implementation method thereof, which utilizes ordinary lighting LED lamps, perovskite cells, a filter power supply comparator circuit and a low-power microcontroller to realize self-powered real-time positioning services. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0003] Since the Global Navigation Satellite System (GNSS), including the Beidou Navigation Satellite System (BDS) and the Global Positioning System (GPS), cannot provide satisfactory performance in indoor environments, indoor positioning technology that uses indoor wireless signals to replace GNSS signals has developed rapidly in recent years.

[0004] In recent years, a new type of indoor positioning system, a visible light positioning system based on light-emitting diodes (LEDs), has emerged. This system uses visible light signals instead of radio frequency (RF) signals, so it has higher positioning accuracy and stability. In addition, it can reuse existing LED lighting facilities, thereby reducing deployment costs. Because of these advantages, visible light positioning systems have received widespread attention from academia and industry. The positioning terminal of the existing traditional visible light positioning system uses a photodiode (PD), and its positioning accuracy can reach the centimeter level or even the millimeter level. However, it cannot be ignored that in actual application scenarios, the positioning terminal requires an external power supply for long-term operation, and users need to carry large-capacity mobile batteries, which brings inconvenience to users and seriously restricts the practical application of visible light positioning systems. Summary of the invention

[0005] The purpose of the present invention is to provide an indoor passive visible light positioning system based on perovskite cells and an implementation method thereof to solve the above problems in the prior art.

[0006] The technical solution of the present invention is as follows: An indoor passive visible light positioning system based on perovskite cells, comprising: a transmitter and a receiving terminal; the transmitter is used to modulate an optical signal and transmit the modulated light into free space; the receiving terminal is used to receive the modulated light in free space and perform real-time positioning; The receiving terminal includes: a perovskite battery, a low-frequency analog-to-digital conversion module, a filter power supply comparator circuit module and a digital signal processing unit; The perovskite cell is used as a photoelectric receiver to receive modulated light with information in free space and convert the optical signal into an electrical signal, and then output the electrical signal to the low-frequency analog-to-digital conversion module and the filter power supply comparator circuit module; it should be noted that the perovskite cell, as a photoelectric receiver, can simultaneously receive optical information and collect energy; The low-frequency analog-to-digital conversion module can collect electrical signals from the perovskite battery according to a set sampling interval, convert the electrical signals into digital signals, and output them to the digital signal processing unit; The filter power supply comparator circuit module can output a corresponding level signal through a comparator based on a high-frequency AC signal in the electrical signal, and can also provide stable energy for a low-frequency analog-to-digital conversion module and a digital signal processing unit based on a low-frequency DC signal in the electrical signal; that is, the filter power supply comparator circuit module has the functions of an electrolytic capacitor-voltage regulator branch storing energy through a low-frequency DC signal and providing stable energy through a voltage regulator branch, and a decoupling capacitor-comparator branch extracting a high-frequency AC signal in the electrical signal to the branch and outputting a level signal after the high-frequency AC signal passes through the comparator; The digital signal processing unit can count the level signal and calculate the current wave frequency, and set the sampling interval of the low-frequency analog-to-digital conversion module according to the wave frequency and start the low-frequency analog-to-digital conversion module. After the low-frequency analog-to-digital conversion module samples N times continuously, it takes the average of the sampling values ​​and substitutes the average into the coordinate equation corresponding to the wave frequency to complete the coordinate output and realize real-time positioning.

[0007] Furthermore, the filter power supply comparator circuit module is used to perform two operations in parallel: (1) using a decoupling capacitor to extract the high-frequency AC signal in the electrical signal to the decoupling capacitor-comparator branch, and outputting the corresponding 0 / 1 level signal to the digital signal processing unit after it passes through the comparator; at the same time, the remaining low-frequency DC signal is output to the electrolytic capacitor-zener diode branch, the electrolytic capacitor is used to store energy, and the zener diode branch provides stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit by being connected in parallel with the electrolytic capacitor.

[0008] Furthermore, the digital signal processing unit is a microcontroller, and the present invention adopts a low-power microcontroller of the STM32L0 series.

[0009] Furthermore, the low-frequency analog-to-digital conversion module is an analog-to-digital converter built into the microcontroller.

[0010] Further, the transmitter includes: an information forward modulation module and an LED array transmission front end; The information forward modulation module adopts a PWM modulation method for digitally encoding the analog signal level to generate a digital control signal, and the digital control signal directly controls the LED array emission front end to emit modulated light of a specific frequency and brightness, thereby realizing direct conversion of digital signals and optical signals and information transmission; that is, the information forward modulation module is used for the optical signal emitted by the LED, adopts a PWM modulation method for digitally encoding the analog signal level to generate a digital control signal, thereby realizing information transmission; the LED array emission front end is used to receive a preceding digital signal and directly generate modulated light of a specific brightness and frequency, thereby realizing direct conversion of digital signals and light and information transmission.

[0011] Furthermore, the LED array emission front end is a lighting LED lamp.

[0012] Furthermore, the number of the transmitters is one or more, and when multiple transmitters cooperate, a frequency division multiple access scheme is adopted, that is, the transmission frequency of each transmitter is different; Furthermore, the number of the receiving terminal is one, which is a fixed or mobile receiving terminal.

[0013] Furthermore, after the low-frequency analog-to-digital conversion module samples three times in succession, an average of the sampled values ​​is taken.

[0014] The method for realizing an indoor passive visible light positioning system based on perovskite cells includes: Step A: The information forward modulation module sets a fixed PWM wave duty cycle and wave frequency in the program, and burns the program into the module; the information forward modulation module generates a digital control signal to control the LED array emission front end to generate modulated light of specific brightness and frequency; Step B: The perovskite cell in the receiving terminal acts as a photoelectric receiver to receive the optical signal in free space and output an electrical signal; Step C: The filter power supply comparator circuit module receives the electrical signal output by the perovskite battery module, and the decoupling capacitor-comparator branch inside it extracts the high-frequency AC signal in the electrical signal to the decoupling capacitor-comparator branch and outputs a 0 / 1 level signal after passing through the comparator; at the same time, the remaining low-frequency DC signal is output to the electrolytic capacitor branch, the electrolytic capacitor continuously stores energy, and the voltage regulator branch provides stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit by being connected in parallel with the electrolytic capacitor; Step D: The digital signal processing unit first uses an internal counter to count the level signal. When the counting is completed, the wave frequency information is calculated, and the sampling interval of the low-frequency analog-to-digital conversion module is set according to the wave frequency and the low-frequency analog-to-digital conversion module is started; Step E: The low-frequency analog-to-digital conversion module collects the electrical signal from the perovskite battery according to the set sampling interval, and converts it into a digital signal and outputs it to the digital signal processing unit; Step F: The digital signal processing unit takes the average of the sampled values ​​output by the low-frequency analog-to-digital conversion module and substitutes it into the coordinate equation corresponding to the wave frequency to complete the coordinate output and realize real-time positioning.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention has strong practicability, low power consumption and low cost; specifically: (1) Through PWM modulation, the light intensity and light frequency of LED lamps can be directly controlled by digital signals without affecting the lighting function of LEDs; (2) The perovskite cell is used as a photoelectric receiver, combined with a filter power supply comparator circuit module, to output an electrical signal to a low-frequency analog-to-digital conversion module and a level signal to a digital signal processing unit. At the same time, it provides stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit, thus realizing a low-power self-powered optical positioning terminal and a visible light positioning system, and improving the practicality of the system. (3) The digital signal processing unit uses a microcontroller, which reduces the power consumption of the system operation; (4) Low-power algorithm programs can be written inside the digital signal processing unit, further reducing the power consumption of the system.

[0016] 2. The present invention adopts a PWM modulation method for digitally encoding the analog signal level during modulation, which can ensure the stability of the output power of the transmitter and prevent the light from flickering due to data transmission; when the receiving terminal solves the coordinates, the wave frequency is calculated by a counter, the counter is stopped immediately after the wave frequency is obtained, and the low-frequency analog-to-digital conversion module is stopped immediately after the sampling mean is obtained, which reduces the power consumption of the system operation to a certain extent and ensures the long-term operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a structural block diagram of an embodiment of the present invention; Figure 2 This is a schematic diagram of the control of the LED array transmission front end by the information forward modulation module according to the present invention; Figure 3 It is an internal equivalent schematic diagram of the perovskite battery involved in the present invention; Figure 4 A schematic diagram of a circuit design of a filter power supply comparator circuit according to the present invention; Figure 5 It is a schematic diagram of the experimental determination structure of the coordinate equation involved in the present invention; Figure 6 The present invention is a flow chart of a digital signal processing unit for solving the coordinates of a certain position.

[0018] Figure numerals: 1-transmitter, 2-receiving terminal, 10-information forward modulation module, 11-LED array transmitting front end, 20-perovskite battery, 21-low-frequency analog-to-digital conversion module, 22-filter power supply comparator circuit module, 23-digital signal processing unit, 200-photosensitive part circuit, 201-first branch, 202-second branch, 220-electrical signal access signal output part, 221-decoupling capacitor-comparator part, 222-electrolytic capacitor-voltage regulator part. DETAILED DESCRIPTION

[0019] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0020] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0021] Embodiment 1 In view of the shortcomings of the existing traditional visible light positioning system, such as poor portability, weak practicality and difficult deployment due to the use of PD as a photoelectric receiver, this embodiment uses a solar cell that can simultaneously receive light information and collect energy to replace PD as a photoelectric receiver to improve the performance of the visible light positioning system.

[0022] Common solar cells currently on the market include crystalline silicon solar cells (monocrystalline silicon, polycrystalline silicon), thin-film solar cells (amorphous silicon (a-Si), cadmium telluride (CdTe), gallium arsenide (GaAs) and copper indium gallium selenide (CIGS) thin-film cells) and perovskite solar cells. Among them, perovskite solar cells have the following advantages over other cells: (1) higher power conversion efficiency (PCE), lower production cost and simpler preparation process, and the current certified efficiency of its single-junction cell has reached 26.1%; (2) Since the present invention adopts indoor photovoltaic technology, band gap and high parallel resistance are the key to obtaining high-efficiency indoor photovoltaic cells. In the emerging photovoltaic technology, perovskite photovoltaic materials have adjustable band gap, high light absorption coefficient, and are insensitive to impurities, so that the corresponding solar cells have high tolerance to defects. The above characteristics ensure that it can obtain a higher indoor weak light conversion efficiency; (3) Compared with the outdoor environment, perovskite solar cells in the indoor environment can effectively avoid harsh outdoor environmental conditions, such as high temperature and humidity, uneven solar radiation intensity, etc.

[0023] Based on the above comparison between perovskite solar cells and other types of batteries, perovskite solar cells have high energy conversion efficiency, low production cost, simple preparation process and excellent performance in indoor environments. Therefore, this embodiment uses perovskite solar cells (hereinafter referred to as perovskite cells) as photoelectric receivers.

[0024] Specifically, Figures 1 to 5 As shown, the indoor passive visible light positioning system based on perovskite cells includes: The transmitter 1 and the receiving terminal 2; The transmitter is mainly composed of an information forward modulation module 10 and an LED array transmission front end 11; The receiving terminal is mainly composed of a perovskite battery 20, a low-frequency analog-to-digital conversion module 21, a filter power supply comparator circuit module 22 and a digital signal processing unit 23; The information forward modulation module 10 is used to treat the light signal emitted by the LED, adopt the PWM modulation method of digitally encoding the analog signal level, generate a digital control signal, and realize the transmission of information; The LED array transmitting front end 11 is used to receive the preceding digital control signal and directly generate modulated light of specific brightness and frequency, so as to realize direct conversion of digital signal and light and information transmission; Figure 2 The control of the LED array emission front end by the information forward modulation module of the present invention is demonstrated; the perovskite cell 20 is used to receive visible light in free space and convert the optical signal into an electrical signal, and then output the electrical signal to the low-frequency analog-to-digital conversion module 21 and the filter power supply comparator circuit module 22; The low-frequency analog-to-digital conversion module 21 is used to collect the electrical signal from the perovskite battery 20 according to the set sampling interval, and convert it into a digital signal and output it to the digital signal processing unit 23; The filter power supply comparator circuit module 22 is used to perform two operations in parallel: (1) extracting the high-frequency AC signal in the electrical signal to the decoupling capacitor-comparator branch using a decoupling capacitor, and outputting a corresponding 0 / 1 level signal to the digital signal processing unit 23 after the signal passes through the comparator; (2) The remaining low-frequency DC signal is output to the electrolytic capacitor-voltage regulator branch. The electrolytic capacitor is used to store energy, and the voltage regulator branch provides stable energy for the low-frequency analog-to-digital conversion module 21 and the digital signal processing unit 23 by being connected in parallel with the electrolytic capacitor. The digital signal processing unit 23 is used to first use an internal counter to count the level signal output by the filter power supply comparator circuit module 22 and calculate the current wave frequency, and then set the sampling interval of the low-frequency analog-to-digital conversion module 21 according to the wave frequency and start the module. After the low-frequency analog-to-digital conversion module 21 samples three times in succession, the sampling value is averaged and the average is substituted into the coordinate equation corresponding to the wave frequency to complete the coordinate output and realize real-time positioning.

[0025] The photoelectric receiver in the visible light positioning system generally adopts a photodiode (PD), which requires an external power supply and has high power consumption. If the receiving terminal works for a long time, it needs to carry a large-capacity power supply and needs to be charged frequently, which seriously restricts the practical application. In order to improve the practicality and convenience of the visible light positioning system, the present invention adopts a perovskite battery 20 as a photoelectric receiver. Figure 3 Specifically, the internal equivalent schematic diagram of the perovskite battery is shown; The perovskite cell receives visible light from free space, and its photosensitive circuit 200 generates a photocurrent containing a DC component and an AC component; the DC component of the photocurrent is blocked by the capacitor on the second branch 202, and thus only flows in the first branch 201 and generates a DC signal on the resistor, so that it has an energy collection function; the AC component of the photocurrent is blocked by the inductor on the first branch 201, and thus only flows in the second branch 202 and generates an AC signal, so that it has an optical information receiving function; However, since the voltage stability of the perovskite battery output is relatively low and the power consumption of the high-frequency analog-to-digital converter of the digital signal processing unit is too large if it runs for a long time, the present invention designs a filter power supply comparator circuit module 22 to achieve the purpose of stabilizing the system voltage and reducing the operating time of the analog-to-digital conversion module and setting a lower sampling frequency according to the wave frequency so that the digital processing unit can perform coordinate calculations with lower power consumption.

[0026] Figure 4The circuit design schematic diagram of the filter power supply comparator circuit is specifically shown; the filter power supply comparator circuit connects the electrical signal output by the perovskite battery to the signal output part 220, and when the electrical signal passes through the branch circuit, the decoupling capacitor-comparator part 221 will extract the high-frequency AC signal in the electrical signal to the branch, and then the AC signal passes through the subsequent comparator and finally outputs the corresponding level signal at the signal output end, and outputs a high-level signal if its value is greater than the reference voltage, otherwise a low-level signal is output; at the same time, the remaining low-frequency DC signal enters the electrolytic capacitor-voltage regulator part 222, and the electrolytic capacitor collects the energy of the DC signal and generates a voltage at both ends thereof. In order to further improve the stability of the energy supply, the present invention connects a voltage regulator branch in parallel to the electrolytic capacitor to provide more stable energy for the low-frequency analog-to-digital conversion module 21 and the digital signal processing unit 23.

[0027] In order to achieve practical and low-power real-time positioning of visible light, the present invention adopts a positioning method based on received signal strength, which is characterized in that the relationship between the distance between the LED array transmitting front end 11 and the perovskite battery 20 and the received signal strength of the perovskite battery 20 at the distance can be measured in advance, so as to obtain the coordinate equation and store it in the digital signal processing unit 23, thereby speeding up the process of solving the coordinates by the digital signal processing unit and reducing the system power consumption.

[0028] like Figure 5 Structural diagram, set the fixed vertical height of the LED array emission front end 11, and move the perovskite cell 20 equidistantly in the direction of the arrow in the figure, and record the received signal strength of the perovskite cell 20 at each position and the distance from the LED array emission front end 11 during the process. Furthermore, in order to obtain a more accurate coordinate equation, the data is fitted into a linear coordinate equation through computer software.

[0029] As described above, the digital signal processing unit 23 in the receiving terminal 2 of the present invention is responsible for processing the digital signal output by the low-frequency analog-to-digital conversion module 21 and the level signal output by the filter power supply comparator circuit module. Figure 6 The workflow diagram of the digital signal processing unit is specifically shown, and the specific steps are as follows: The digital signal processing unit first initializes the counter, sets the counting preset value and the counting mode; Receive the level signal output by the filter power supply comparator circuit module and count it. If the count value is equal to the preset value, stop the counter and calculate the wave frequency. Otherwise, the counter keeps running and continues counting. Set the sampling interval according to the wave frequency and start the low-frequency analog-to-digital conversion module. If three consecutive samplings have been completed, stop the low-frequency analog-to-digital conversion module and calculate the average of the three sampling values. Otherwise, continue sampling. Substitute the mean value into the coordinate equation corresponding to the wave frequency, output the coordinates, complete the real-time positioning, and end this positioning.

[0030] It can be seen from the above steps that the present invention adopts the PWM modulation method of digitally encoding the analog signal level during modulation, which can ensure the stability of the output power of the transmitter and prevent the light from flickering due to data transmission; and when the receiving terminal solves the coordinates, the wave frequency is calculated by a counter, the counter is stopped immediately after the wave frequency is obtained, and the low-frequency analog-to-digital conversion module is stopped immediately after the sampling mean is obtained, which reduces the power consumption of the system operation to a certain extent and ensures the long-term operation of the system.

[0031] Embodiment 2 In this embodiment, a low-power algorithm program can be written inside the digital signal processing unit to further reduce the power consumption of the system, which is specifically: First, initialize the counter to the preset value , the counting mode is rising edge counting and upward counting; Then the counter starts counting. When the level signal output by the comparator changes from low to high, the counter count value increases by 1. After 1 second, the count value equals the preset value and the count ends. Then the calculation formula of the wave frequency is: , stop the counter; In order to further reduce the system power consumption, this paper sets the sampling interval of the low-frequency analog-to-digital conversion module to the wave frequency. times, that is, every The time is sampled once, the low-frequency analog-to-digital conversion module is started, and the sampling is performed three times continuously and the average value is taken. As the final sample value , stop sampling; Finally, the sample value Substitute the coordinate equation corresponding to the wave frequency into , and finally get the center distance between the receiving terminal and the transmitter and horizontal distance .

[0032] For the coordinate equation, For the wave frequency The sampling value of and are the slope and intercept parameters of the coordinate equation obtained after fitting.

[0033] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

[0034] This background section is provided to generally present the context of the invention, and the work of the presently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither explicitly nor implicitly admitted to be prior art to the present invention.

Claims

1. Indoor passive visible light positioning system based on perovskite cells, characterized in that: include: Transmitter and receiving terminals; The transmitter is used to modulate the optical signal and transmit the modulated light into free space; The receiving terminal is used to receive modulated light in free space and perform real-time positioning; The receiving terminal includes: a perovskite battery, a low-frequency analog-to-digital conversion module, a filter power supply comparator circuit module and a digital signal processing unit; The perovskite cell is used as a photoelectric receiver to receive modulated light in free space and convert the optical signal into an electrical signal; The low-frequency analog-to-digital conversion module can collect electrical signals from the perovskite battery according to a set sampling interval and convert the electrical signals into digital signals; The filtering and energy supply comparator circuit module can output a corresponding level signal through a comparator based on the high-frequency AC signal in the electrical signal, and can also provide stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit based on the low-frequency DC signal in the electrical signal; The digital signal processing unit can count the level signal and calculate the current wave frequency, and set the sampling interval of the low-frequency analog-to-digital conversion module according to the wave frequency and start the low-frequency analog-to-digital conversion module. After the low-frequency analog-to-digital conversion module samples N times continuously, it takes the average of the sampling values ​​and substitutes the average into the coordinate equation corresponding to the wave frequency to complete the coordinate output and realize real-time positioning.

2. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: The filtering energy supply comparator circuit module is used to perform two operations in parallel: using a decoupling capacitor to extract the high-frequency AC signal in the electrical signal to the decoupling capacitor-comparator branch, and outputting the corresponding 0 / 1 level signal to the digital signal processing unit after it passes through the comparator; at the same time, the remaining low-frequency DC signal is output to the electrolytic capacitor-voltage regulator branch, the electrolytic capacitor is used to store energy, and the voltage regulator branch provides stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit by being connected in parallel with the electrolytic capacitor.

3. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: The digital signal processing unit is a microcontroller.

4. The indoor passive visible light positioning system based on perovskite cells according to claim 3 is characterized in that: The low-frequency analog-to-digital conversion module is an analog-to-digital converter built into the microcontroller.

5. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: The transmitter comprises: an information forward modulation module and an LED array transmission front end; The information forward modulation module adopts a PWM modulation method for digitally encoding the analog signal level to generate a digital control signal. The digital control signal directly controls the LED array to emit modulated light from the front end, thereby realizing direct conversion of digital signals and optical signals and information transmission.

6. The indoor passive visible light positioning system based on perovskite cells according to claim 5, characterized in that: The LED array emission front end is a lighting LED lamp.

7. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: The number of the transmitters is one or more, and when multiple transmitters cooperate, a frequency division multiple access scheme is adopted.

8. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: The number of the receiving terminal is one, which is a fixed or mobile receiving terminal.

9. The indoor passive visible light positioning system based on perovskite cells according to claim 1, characterized in that: After the low-frequency analog-to-digital conversion module samples three times in succession, the sampled values ​​are averaged.

10. A method for realizing an indoor passive visible light positioning system based on perovskite cells, characterized in that: include: Step A: The information forward modulation module sets the fixed PWM wave duty cycle and wave frequency in the program, and burns the program into the module; The information forward modulation module generates a digital control signal to control the LED array emission front end to generate modulated light; Step B: The perovskite cell in the receiving terminal acts as a photoelectric receiver to receive the optical signal in free space and output an electrical signal; Step C: The filter power supply comparator circuit module receives the electrical signal output by the perovskite battery module, and the decoupling capacitor-comparator branch inside it extracts the high-frequency AC signal in the electrical signal to the decoupling capacitor-comparator branch and outputs a 0 / 1 level signal after passing through the comparator; at the same time, the remaining low-frequency DC signal is output to the electrolytic capacitor branch, the electrolytic capacitor continuously stores energy, and the voltage regulator branch provides stable energy for the low-frequency analog-to-digital conversion module and the digital signal processing unit by being connected in parallel with the electrolytic capacitor; Step D: The digital signal processing unit first uses an internal counter to count the level signal. When the counting is completed, the wave frequency information is calculated, and the sampling interval of the low-frequency analog-to-digital conversion module is set according to the wave frequency and the low-frequency analog-to-digital conversion module is started; Step E: The low-frequency analog-to-digital conversion module collects the electrical signal from the perovskite battery according to the set sampling interval, and converts it into a digital signal and outputs it to the digital signal processing unit; Step F: The digital signal processing unit takes the average of the sampled values ​​output by the low-frequency analog-to-digital conversion module and substitutes it into the coordinate equation corresponding to the wave frequency to complete the coordinate output and realize real-time positioning.

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